#ifndef _PLANE_H
#define _PLANE_H
#include "global.h"

using namespace std;
typedef pcl::PointXYZ PointT;

extern char mode;
extern pcl::PassThrough<PointT> pass_plane;
extern pcl::VoxelGrid<PointT> sor_plane;
extern pcl::ModelCoefficients::Ptr coefficients_plane;
extern pcl::PointIndices::Ptr inliers_plane;
extern pcl::SACSegmentationFromNormals<PointT, pcl::Normal> seg_plane;
extern pcl::PointCloud<PointT>::Ptr cloud_filtered_plane;
extern pcl::ExtractIndices<PointT> extract_plane;
extern pcl::NormalEstimation<PointT, pcl::Normal> ne_plane;
extern pcl::PointCloud<pcl::Normal>::Ptr cloud_normals_plane;
extern pcl::search::KdTree<PointT>::Ptr tree_plane;
extern pcl::PointCloud<PointT>::Ptr cloud_filtered;
extern pcl::PointCloud<PointT>::Ptr cloud_viewer;

// extern pcl::visualization::CloudViewer viewer1;

extern pcl::console::TicToc tt;

extern char send_data[8];

void findplane_run();

#endif     
